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adjust navigation and statemachine

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main
Simon Frei 4 years ago
parent 6d8603c454
commit 2a889cfbbb
4 changed files with 18 additions and 20 deletions
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  1. 21
      ADIS_Csharp/RaspiControl/Application.cs
  2. 8
      ADIS_Csharp/RaspiControl/NavigationConstants.cs
  3. 2
      ADIS_Csharp/RaspiControl/RaspiControl.csproj
  4. 7
      ADIS_Csharp/RaspiControl/StateMachine.cs

21
ADIS_Csharp/RaspiControl/Application.cs
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@ -32,7 +32,7 @@ namespace RaspiControl {
public void Status_StatusChanged(object? sender, StatusEventArgs e) {
try {
if(e.Status == RoboStatus.Manual) {
if (e.Status == RoboStatus.Manual) {
this.sm.MoveNext(Command.manualMode);
this.smHandler();
}
@ -40,11 +40,11 @@ namespace RaspiControl {
this.sm.MoveNext(Command.autoMode);
this.smHandler();
}
if(e.Status == RoboStatus.Final) {
if (e.Status == RoboStatus.Final) {
this.sm.MoveNext(Command.finished);
this.smHandler();
}
if(e.Status == RoboStatus.Failure) {
if (e.Status == RoboStatus.Failure) {
this.sm.MoveNext(Command.failure);
this.smHandler();
}
@ -53,11 +53,12 @@ namespace RaspiControl {
}
}
public void Status_PresentChanged(object? sender, PresentEventArgs e) {
if(this.sm.CurrentState == ProcessState.Auto) {
this.PresentCounter++;
this.challenge.RobotStationary.SplitFlap.Display(this.PresentCounter.ToString().PadLeft(4,'0'));
}
public void Status_PresentChanged(object? sender, PresentEventArgs e) {
//if(this.sm.CurrentState == ProcessState.Auto) {
this.challenge.RobotStationary.SplitFlap.Display(e.Present.ToString().PadLeft(4, '0'));
log.Debug(e.Present.ToString());
log.Debug(e.Present.ToString().PadLeft(4, '0'));
//}
}
public void Run() {
@ -141,7 +142,7 @@ namespace RaspiControl {
this.PresentCounter = 0;
this.stopwatch.Stop();
long elapsedTime = stopwatch.ElapsedMilliseconds / 1000;
this.challenge.RobotStationary.SplitFlap.Display(elapsedTime.ToString().PadLeft(4,'0'));
this.challenge.RobotStationary.SplitFlap.Display($"{elapsedTime.ToString().PadLeft(3, '0')}S");
break;
case ProcessState.Error:
//this.PresentCounter = 0;
@ -170,7 +171,7 @@ namespace RaspiControl {
this.sm.MoveNext(Command.JoystickCenter);
break;
}
if(e.Button != JoystickButton.None) {
if (e.Button != JoystickButton.None) {
this.smHandler();
}
} catch (Exception ex) {

8
ADIS_Csharp/RaspiControl/NavigationConstants.cs
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@ -1,9 +1,9 @@
namespace RaspiControl {
public static class NavigationConstants {
public const int TURN_ANGLE_LEFT = -10;
public const int TURN_ANGLE_RIGHT = 10;
public const int SPEED_FORWARD = 100;
public const int SPEED_BACKWARD = -100;
public const int TURN_ANGLE_LEFT = -15;
public const int TURN_ANGLE_RIGHT = 15;
public const int SPEED_FORWARD = 350;
public const int SPEED_BACKWARD = -350;
public const bool STOP = true;
}
}

2
ADIS_Csharp/RaspiControl/RaspiControl.csproj
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@ -8,7 +8,7 @@
</PropertyGroup>
<Target Name="PostBuild" AfterTargets="PostBuildEvent">
<Exec Command="cd &quot;$(TargetDir)&quot;&#xD;&#xA;&quot;$(SolutionDir)\SecureUpload.exe&quot; . pi-home:ADIS/$(ProjectName)" />
<Exec Command="cd &quot;$(TargetDir)&quot;&#xD;&#xA;&quot;$(SolutionDir)\SecureUpload.exe&quot; . pi-hslu:ADIS/$(ProjectName)" />
</Target>
<ItemGroup>

7
ADIS_Csharp/RaspiControl/StateMachine.cs
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@ -94,22 +94,19 @@ namespace RaspiControl {
{new StateTransition(ProcessState.MoveManual, Command.JoystickRight), ProcessState.MoveManualR },
{new StateTransition(ProcessState.MoveManual, Command.JoystickCenter), ProcessState.StopManual },
{new StateTransition(ProcessState.MoveManual, Command.autoMode), ProcessState.Auto },
{new StateTransition(ProcessState.MoveManual, Command.finished), ProcessState.Final },
{new StateTransition(ProcessState.StopManual,Command.JoystickUp), ProcessState.ResumeMoveManual },
{new StateTransition(ProcessState.StopManual,Command.JoystickDown), ProcessState.ResumeMoveManual },
{new StateTransition(ProcessState.StopManual,Command.JoystickLeft), ProcessState.ResumeMoveManual },
{new StateTransition(ProcessState.StopManual,Command.JoystickRight), ProcessState.ResumeMoveManual },
{new StateTransition(ProcessState.StopManual, Command.autoMode), ProcessState.Auto },
{new StateTransition(ProcessState.StopManual, Command.finished), ProcessState.Final },
{new StateTransition(ProcessState.ResumeMoveManual, Command.none),ProcessState.MoveManual },
{new StateTransition(ProcessState.ResumeMoveManual, Command.autoMode), ProcessState.Auto },
{new StateTransition(ProcessState.Auto, Command.finished), ProcessState.Final },
//{new StateTransition(ProcessState.Auto, Command.JoystickUp), ProcessState.StartMoveManual },
//{new StateTransition(ProcessState.Auto, Command.JoystickDown), ProcessState.StartMoveManual },
//{new StateTransition(ProcessState.Auto, Command.JoystickLeft), ProcessState.StartMoveManual },
//{new StateTransition(ProcessState.Auto, Command.JoystickRight), ProcessState.StartMoveManual },
//{new StateTransition(ProcessState.Auto, Command.JoystickCenter), ProcessState.StartMoveManual },
{new StateTransition(ProcessState.Auto, Command.failure), ProcessState.Error },
{new StateTransition(ProcessState.Auto, Command.manualMode), ProcessState.ResumeMoveManual },

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